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#ifndef _MATRIX_H
#define _MATRIX_H
#include <stdio.h>
#include "math/vector.h"
typedef float MatrixGL[16];
typedef float Matrix3DS[12];
class Matrix{
public:
float matrix[4][4];
Matrix(){ Identity(); }
Matrix(const Matrix3DS &m) {
Identity();
matrix[0][0] = m[0]; matrix[0][1] = m[1 ]; matrix[0][2] = m[2 ]; matrix[0][3] = 0;
matrix[1][0] = m[3]; matrix[1][1] = m[4 ]; matrix[1][2] = m[5 ]; matrix[1][3] = 0;
matrix[2][0] = m[6]; matrix[2][1] = m[7 ]; matrix[2][2] = m[8 ]; matrix[2][3] = 0;
matrix[3][0] = m[9]; matrix[3][1] = m[10]; matrix[3][2] = m[11]; matrix[3][3] = 1;
swap();
}
Matrix(const MatrixGL &m) {
Identity();
matrix[0][0] = m[ 0]; matrix[1][0] = m[ 1]; matrix[2][0] = m[ 2]; matrix[3][0] = m[ 3];
matrix[0][1] = m[ 4]; matrix[1][1] = m[ 5]; matrix[2][1] = m[ 6]; matrix[3][1] = m[ 7];
matrix[0][2] = m[ 8]; matrix[1][2] = m[ 9]; matrix[2][2] = m[10]; matrix[3][2] = m[11];
matrix[0][3] = m[12]; matrix[1][3] = m[13]; matrix[2][3] = m[14]; matrix[3][3] = m[15];
}
/* special thanks to Farbrausch ;-) */
Matrix(const float x, const float y, const float z, const float w)
{
/*
( 1-yy-zz , xy+wz , xz-wy )
T = ( xy-wz , 1-xx-zz , yz+wx )
( xz+wy , yz-wx , 1-xx-yy )
*/
float fx2, fy2, fz2, fwx, fwy, fwz, fxx, fxy, fxz, fyy, fyz, fzz;
fx2 = x + x; fy2 = y + y; fz2 = z + z;
fwx = w * fx2; fwy = w * fy2; fwz = w * fz2;
fxx = x * fx2; fxy = x * fy2; fxz = x * fz2;
fyy = y * fy2; fyz = y * fz2; fzz = z * fz2;
matrix[0][0] = (float)1.0 - (fyy + fzz);
matrix[0][1] = (float)fxy + fwz;
matrix[0][2] = (float)fxz - fwy;
matrix[0][3] = 0.0f;
matrix[1][0] = (float)fxy - fwz;
matrix[1][1] = (float)1.0f - (fxx + fzz);
matrix[1][2] = (float)fyz + fwx;
matrix[1][3] = 0.0f;
matrix[2][0] = (float)fxz + fwy;
matrix[2][1] = (float)fyz - fwx;
matrix[2][2] = (float)1.0f - (fxx + fyy);
matrix[2][3] = 0.0f;
matrix[3][0] = 0.0f;
matrix[3][1] = 0.0f;
matrix[3][2] = 0.0f;
matrix[3][3] = 1.0f;
}
inline Matrix operator *=(const Matrix &a) {
Matrix temp;
int i;
for (i=0; i<3; i++)
for (int j=0; j<3; j++)
temp.matrix[i][j] = (matrix[i][0]*a.matrix[0][j])+
(matrix[i][1]*a.matrix[1][j])+
(matrix[i][2]*a.matrix[2][j]);
for (i=0; i<3; i++)
for (int j=0; j<3; j++)
matrix[i][j] = temp.matrix[i][j];
return temp;
}
inline Matrix operator +=(const Matrix &a) {
Matrix temp;
for (int i=0; i<3; i++)
for (int j=0; j<3; j++)
temp.matrix[i][j] = matrix[i][j] + a.matrix[i][j];
return temp;
}
inline Matrix operator*(const Matrix &a) const {
Matrix temp;
for (int i=0; i<3; i++)
for (int j=0; j<3; j++)
temp.matrix[i][j] = (matrix[i][0]*a.matrix[0][j])+
(matrix[i][1]*a.matrix[1][j])+
(matrix[i][2]*a.matrix[2][j]);
return temp;
}
inline Vector operator*(const Vector &v) const {
Vector temp;
temp.x = (v.x*matrix[0][0])+(v.y*matrix[0][1])+(v.z*matrix[0][2])+matrix[0][3];
temp.y = (v.x*matrix[1][0])+(v.y*matrix[1][1])+(v.z*matrix[1][2])+matrix[1][3];
temp.z = (v.x*matrix[2][0])+(v.y*matrix[2][1])+(v.z*matrix[2][2])+matrix[2][3];
return temp;
}
inline Matrix operator+(const Matrix &a) const {
Matrix temp;
for (int i=0; i<3; i++)
for (int j=0; j<3; j++)
temp.matrix[i][j] = matrix[i][j] + a.matrix[i][j];
return temp;
}
inline void Identity() {
matrix[0][0] = 1; matrix[1][0] = 0; matrix[2][0] = 0; matrix[3][0] = 0;
matrix[0][1] = 0; matrix[1][1] = 1; matrix[2][1] = 0; matrix[3][1] = 0;
matrix[0][2] = 0; matrix[1][2] = 0; matrix[2][2] = 1; matrix[3][2] = 0;
matrix[0][3] = 0; matrix[1][3] = 0; matrix[2][3] = 0; matrix[3][3] = 1;
}
inline Matrix operator =(Matrix3DS &m) {
return Matrix(m);
}
inline Matrix Invscale() {
Matrix temp;
for(int i=0; i<4; i++){
float scale = (matrix[i][0] * matrix[i][0]) +
(matrix[i][1] * matrix[i][1]) +
(matrix[i][2] * matrix[i][2]);
scale = 1.0f / scale;
for( int j = 0; j < 4; j++ ) temp.matrix[i][j] = matrix[i][j] * scale;
}
return temp;
}
inline void swap() {
float tmp;
int i;
for (i = 0; i < 3; i++) {
tmp = matrix[i][1];
matrix[i][1] = matrix[i][2];
matrix[i][2] = tmp;
}
for (i = 0; i < 3; i++) {
tmp = matrix[1][i];
matrix[1][i] = matrix[2][i];
matrix[2][i] = tmp;
}
tmp = matrix[3][1]; matrix[3][1] = matrix[3][2]; matrix[3][2] = tmp;
}
inline Matrix transpose() {
Matrix temp;
for (int i = 0; i < 3; i++)
for (int j = 0; j < 3; j++)
temp.matrix[i][j] = matrix[j][i];
const float tx = matrix[0][3];
const float ty = matrix[1][3];
const float tz = matrix[2][3];
temp.matrix[0][3] = -(temp.matrix[0][0] * tx +
temp.matrix[0][1] * ty +
temp.matrix[0][2] * tz);
temp.matrix[1][3] = -(temp.matrix[1][0] * tx +
temp.matrix[1][1] * ty +
temp.matrix[1][2] * tz);
temp.matrix[2][3] = -(temp.matrix[2][0] * tx +
temp.matrix[2][1] * ty +
temp.matrix[2][2] * tz);
*this = temp;
return *this;
}
void ToGL(float *temp) {
temp[0 ] = matrix[0][0];
temp[1 ] = matrix[0][1];
temp[2 ] = matrix[0][2];
temp[3 ] = matrix[0][3];
temp[4 ] = matrix[1][0];
temp[5 ] = matrix[1][1];
temp[6 ] = matrix[1][2];
temp[7 ] = matrix[1][3];
temp[8 ] = matrix[2][0];
temp[9 ] = matrix[2][1];
temp[10] = matrix[2][2];
temp[11] = matrix[2][3];
temp[12] = matrix[3][0];
temp[13] = matrix[3][1];
temp[14] = matrix[2][2];
temp[15] = matrix[3][3];
}
void print() {
printf("%5.3f %5.3f %5.3f %5.3f\n", matrix[0][0], matrix[0][1], matrix[0][2], matrix[0][3]);
printf("%5.3f %5.3f %5.3f %5.3f\n", matrix[1][0], matrix[1][1], matrix[1][2], matrix[1][3]);
printf("%5.3f %5.3f %5.3f %5.3f\n", matrix[2][0], matrix[2][1], matrix[2][2], matrix[2][3]);
printf("%5.3f %5.3f %5.3f %5.3f\n", matrix[3][0], matrix[3][1], matrix[3][2], matrix[3][3]);
printf("\n");
}
};
#endif // _MATRIX_H
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